DuongTD/laser_geometry
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provide support for tf2

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This commit is contained in:
Vincent Rabaud
2014-09-28 16:18:23 +02:00
parent 04c06208d9
commit 8d916f93d5
4 changed files with 151 additions and 23 deletions
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17
test/projection_test.cpp
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@@ -540,7 +540,8 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
{
tf::Transformer tf;
tf2::BufferCore tf2;
double tolerance = 1e-12;
laser_geometry::LaserProjection projector;
@@ -613,21 +614,35 @@ TEST(laser_geometry, transformLaserScanToPointCloud2)
sensor_msgs::PointCloud2 cloud_out;
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::None);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::None);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)3);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)4);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)5);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)6);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
projector.transformLaserScanToPointCloud(scan.header.frame_id, scan, cloud_out, tf2, -1.0, laser_geometry::channel_option::Intensity | laser_geometry::channel_option::Index | laser_geometry::channel_option::Distance | laser_geometry::channel_option::Timestamp);
EXPECT_EQ(cloud_out.fields.size(), (unsigned int)7);
EXPECT_EQ(cloud_out.is_dense, false);